An Independent Ups and Downs Control Method of Underwater Submersible Vehicle Based on Adaptive Fuzzy Control

As for actual operation requirement and characteristics of ups and downs movement of underwater submersible vehicle, an independent ups and downs control method based on adaptive fuzzy control was advanced. In this method, on optimization of membership function, EBP algorithm of multiple layers forward neural network was used to correct parameters of membership function, and learning rule of Delta-Bar-Delta was used to adjust learning speed, which mended convergence speed of EBP algorithm, and problem of sectional minimum was avoided at the same time. It was illuminated by simulation experiments that independent ups and downs movement of underwater submersible vehicle could not be modeled precisely, and disturbance had characteristics of serious nonlinear and time change, which could be improved by this adaptive fuzzy control method.